Human activity recognition has been an important area of computer vision research since
the 1980s. Various approaches have been proposed with a great portion of them addressing …

Visual inertial odometry (VIO) is a technique to estimate the change of a mobile platform in
position and orientation overtime using the measurements from on-board cameras and IMU …

Direct methods for visual odometry (VO) have gained popularity for their capability to exploit
information from all intensity gradients in the image. However, low computational speed as …

This paper presents ORB-SLAM, a feature-based monocular simultaneous localization and
mapping (SLAM) system that operates in real time, in small and large indoor and outdoor …

Abstract We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for
highly accurate real-time visual odometry estimation of large-scale environments from stereo …

We propose a novel Large-Scale Direct SLAM algorithm for stereo cameras (Stereo LSD-
SLAM) that runs in real-time at high frame rate on standard CPUs. In contrast to sparse …

We propose a real-time, direct monocular SLAM method for omnidirectional or wide field-of-
view fisheye cameras. Both tracking (direct image alignment) and mapping (pixel-wise …

While the most accurate solution to off-line structure from motion (SFM) problems is
undoubtedly to extract as much correspondence information as possible and perform batch …

In this paper, we present an extended Kalman filter (EKF)-based algorithm for real-time
vision-aided inertial navigation. The primary contribution of this work is the derivation of a …

Visual and inertial sensors, in combination, are able to provide accurate motion estimates
and are well suited for use in many robot navigation tasks. However, correct data fusion, and …